Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

✍ Scribed by Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

• Publisher: Springer
• Year: 2007
• Tongue: English
• Leaves: 245
• Series: Springer Tracts in Advanced Robotics, no. 29
• Edition: 1
• Category: Library

✦ Synopsis

This monograph deals with energy based control of interactive robotic interfaces and the port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. Using the port-Hamiltonian framework, it is possible to identify the energetic properties that have to be controlled in order to achieve a desired interactive behavior and it is possible to build a port-Hamiltonian controller that properly regulates the robotic interface by shaping its energetic properties.

Thanks to its generality, the port-Hamiltonian formalism allows to model and control also complex interactive robotic interfaces in a very natural way. In this book, a port-Hamiltonian approach for regulating the interaction between a robot and a local environment, a virtual environment (i.e. haptic interfaces) and a remote environment (i.e. bilateral telemanipulation systems) is developed.

✦ Table of Contents

front-matter.pdf......Page 1
011 - 031.pdf......Page 17
033 - 076.pdf......Page 48
077 - 125.pdf......Page 92
127 - 163.pdf......Page 141
165 - 199.pdf......Page 178
back-matter.pdf......Page 213